[HTML][HTML] Recent developments and challenges of lower extremity exoskeletons

B Chen, H Ma, LY Qin, F Gao, KM Chan… - Journal of orthopaedic …, 2016 - Elsevier
The number of people with a mobility disorder caused by stroke, spinal cord injury, or other
related diseases is increasing rapidly. To improve the quality of life of these people, devices …

Lower limb wearable robots for assistance and rehabilitation: A state of the art

W Huo, S Mohammed, JC Moreno… - IEEE systems …, 2014 - ieeexplore.ieee.org
Neurologic injuries, such as stroke, spinal cord injuries, and weaknesses of skeletal muscles
with elderly people, may considerably limit the ability of this population to achieve the main …

Reducing the energy cost of human walking using an unpowered exoskeleton

SH Collins, MB Wiggin, GS Sawicki - Nature, 2015 - nature.com
With efficiencies derived from evolution, growth and learning, humans are very well-tuned
for locomotion 1. Metabolic energy used during walking can be partly replaced by power …

Biomechanical walking mechanisms underlying the metabolic reduction caused by an autonomous exoskeleton

LM Mooney, HM Herr - Journal of neuroengineering and rehabilitation, 2016 - Springer
Background Ankle exoskeletons can now reduce the metabolic cost of walking in humans
without leg disability, but the biomechanical mechanisms that underlie this augmentation are …

Biologically-inspired soft exosuit

AT Asbeck, RJ Dyer, AF Larusson… - 2013 IEEE 13th …, 2013 - ieeexplore.ieee.org
In this paper, we present the design and evaluation of a novel soft cable-driven exosuit that
can apply forces to the body to assist walking. Unlike traditional exoskeletons which contain …

Design of a passive lower limb exoskeleton for walking assistance with gravity compensation

L Zhou, W Chen, W Chen, S Bai, J Zhang… - Mechanism and Machine …, 2020 - Elsevier
In this paper, a passive lower limb exoskeleton with hip and knee joints is proposed for
walking assistance. The exoskeleton is designed with built-in spring mechanisms for gravity …

Lock your robot: A review of locking devices in robotics

M Plooij, G Mathijssen, P Cherelle… - IEEE Robotics & …, 2015 - ieeexplore.ieee.org
Locking devices are widely used in robotics, for instance to lock springs and joints or to
reconfigure robots. This review article classifies the locking devices currently described in …

Modeling and stiffness-based continuous torque control of lightweight quasi-direct-drive knee exoskeletons for versatile walking assistance

TH Huang, S Zhang, S Yu, MK MacLean… - IEEE Transactions …, 2022 - ieeexplore.ieee.org
State-of-the-art exoskeletons are typically limited by the low control bandwidth and small-
range stiffness of actuators, which are based on high gear ratios and elastic components …

A wearable lower limb exoskeleton: Reducing the energy cost of human movement

X Tang, X Wang, X Ji, Y Zhou, J Yang, Y Wei, W Zhang - Micromachines, 2022 - mdpi.com
Human body enhancement is an interesting branch of robotics. It focuses on wearable
robots in order to improve the performance of human body, reduce energy consumption and …

Estimation of quasi-stiffness and propulsive work of the human ankle in the stance phase of walking

K Shamaei, GS Sawicki, AM Dollar - PloS one, 2013 - journals.plos.org
Characterizing the quasi-stiffness and work of lower extremity joints is critical for evaluating
human locomotion and designing assistive devices such as prostheses and orthoses …